Tracking and accountability device and system

ABSTRACT

A tracking and accountability system and apparatus is provided and comprises a command unit and processing unit coupled to a wireless communication network, a first tracking device having a first mobile transceiver in communication with the wireless communication network and coupled to a first set of identification data of a first individual and being operative to transmit signals representing the first individual&#39;s location over the wireless communication network to the processing unit, and a second tracking device having a second mobile transceiver and coupled to a second set of identification data of a second individual and being operative to transmit signals representing the second individual&#39;s location (i) to the processing unit over the wireless communication network if the second tracking device is within a first distance; and (ii) to the first tracking device if the second tracking device is within the first distance to the first tracking device.

BACKGROUND OF THE INVENTION Field of the Invention

The present invention relates to a tracking and accountability deviceand system, and particular to a system for communicating betweenindividuals within and beyond a predetermined range, and for aiding inthe safety of emergency responders.

Description of Related Art

A reliable tracking and communication system is essential for collectingand disseminating information at the scene of an emergency and fordirecting and controlling personnel and resources at the emergency.Additionally, first responders must have a system in place to enablecommunication among those on the scene to provide efficient andeffective services to those in need of help. Currently, first responderdepartments have communication and accountability guidelines in place tofacilitate communication and safety. For example, to provide tracking aninventory of first responders at the scene of an emergency, theaccountability officer typically maintains the position and function offirst responding individuals. At the scene of a fire, for example, theaccountability officer typically collects the firefighter accountabilitytags from each firefighter about to enter a burning building. The tagsare placed on the accountability tag board under the sectioncorresponding with the firefighter's assigned position. Theaccountability officer will also record the names of each firefighter onan accountability board. Throughout the duration of the emergency, theaccountability officer remains in radio communication with thefirefighters, listens to each individual's position, and records theposition of each during ground operations. This requires thefirefighters to update their location at least every 5-10 minutes andfor the accountability officer to carefully, and without interruption,listen to the radio updates provided by the firefighters. Upon thereturn of a firefighter to the accountability officer, the firefighterremoves his or her tag from the accountability tag board indicating thatthe individual firefighter is no longer in the building.

A problem with this system is that it requires first responders toprovide the necessary data, which can be very difficult to provide inmany situations. In addition, it can be difficult to obtain positions ofeach firefighter by listening to voice communications. Further, theaccountability officer is not able to detect whether a first responderis in peril without voice communication.

Traditional methods to track emergency responders typically rely oninertial navigation system comprising gyroscopes and/or accelerometers.While these types of sensors permit navigation in an isolatedenvironment without any inputs from any other aiding sensors, errorsources can accumulate over time. The gyroscope measurements drift overtime and result in inaccurate measurements. Moreover, the gyroscopes andaccelerometers have biases and nonlinearity errors that cause errors inestimations. Additional errors, such as computational errors, canaccumulate during mathematical integration. Other systems rely on globalpositioning systems (GPS), which are typically more accurate over thegyroscope and accelerometer as the GPS does not drift. However, GPS hasa slow update rate and can be less accurate in the short term thaninertial navigation systems using gyroscopes and accelerometers.Further, once the individual enters the building or if the individual isin urban canyons of tall buildings, or in other challengingenvironments, physical barriers and interference sources may prevent theGPS signals from reaching the device or satellite.

BRIEF SUMMARY OF THE INVENTION

The present disclosure provides a communication system having a commandunit, a processing unit, and a plurality of personal tracking units.

In one configuration, a communication system is provided comprising acommand unit coupled to a wireless ad hoc network (WANET), a processingunit coupled to the WANET, a first personal tracking unit having a firstmobile transceiver in communication with the wireless ad hoc networkWANET, the first personal tracking unit coupled to a first set of useridentification data of a first individual and being operative totransmit signals representing the first individual's location over theWANET to the processing unit, and a second personal tracking unit havinga second mobile transceiver, the second personal tracking unit coupledto a second set of user identification data of a second individual andbeing operative to transmit signals representing the second individual'slocation (i) to the processing unit over the WANET if the secondpersonal tracking unit is within a first distance; and (ii) to the firstpersonal tracking unit if the second personal tracking unit is withinthe first distance to the first personal tracking unit.

Also provided is a communication system comprising a command unitcoupled to a WANET, a processing unit coupled to the WANET, a firstpersonal tracking unit having a first mobile transceiver incommunication with the WANET, the first personal tracking unit coupledto a first set of user identification data of a first individual andbeing operative to transmit signals representing the first individual'slocation over the WANET to the processing unit, and a second personaltracking unit having a second mobile transceiver, the second personaltracking unit coupled to a second set of user identification data of asecond individual and being operative to transmit signals representingthe second individual's location (i) to the processing unit over theWANET if the second personal tracking unit is within a first distance;and (ii) to the first personal tracking unit if the second personaltracking unit is within the first distance to the first personaltracking unit, wherein each personal tracking unit further comprises aprocessor, an ambient temperature sensor for generating ambienttemperature data, and a display, wherein the processor couples theambient temperature data with the location data to generate a heat mapof the location of the individual to be displayed on the display.

In a further configuration, a communication system is providedcomprising a command unit coupled to a WANET, a processing unit coupledto the WANET, a first personal tracking unit having a first mobiletransceiver in communication with the WANET, the first personal trackingunit coupled to a first set of user identification data of a firstindividual and being operative to transmit signals representing thefirst individual's location over the WANET to the processing unit, and asecond personal tracking unit having a second mobile transceiver, thesecond personal tracking unit coupled to a second set of useridentification data of a second individual and being operative totransmit signals representing the second individual's location (i) tothe processing unit over the WANET if the second personal tracking unitis within a first distance; and (ii) to the first personal tracking unitif the second personal tracking unit is within the first distance to thefirst personal tracking unit, wherein the processing unit couples aplurality of location data points received from the personal trackingunits with a preexisting structure map to generate a map having thelocations of each personal tracking unit.

In another configuration, a communication system is provided comprisinga command unit coupled to a WANET, a processing unit coupled to theWANET, a first personal tracking unit having a first mobile transceiverin communication with the WANET, the first personal tracking unitcoupled to a first set of user identification data of a first individualand being operative to transmit signals representing the firstindividual's location over the WANET to the processing unit, and asecond personal tracking unit having a second mobile transceiver, thesecond personal tracking unit coupled to a second set of useridentification data of a second individual and being operative totransmit signals representing the second individual's location (i) tothe processing unit over the WANET if the second personal tracking unitis within a first distance; and (ii) to the first personal tracking unitif the second personal tracking unit is within the first distance to thefirst personal tracking unit, wherein the personal tracking unitreceives from the processing unit an egress map by a reverse data pushof the locations of the individual.

In a further configuration, a device for determining the environmentalconditions in an enclosed space is provided comprising a housing havinga sensor module for collecting a plurality of data points, wherein atleast one set of data points is one of an ambient temperature and aconcentration of gas inside the enclosed space, and a transmittercoupled to a WANET for sending the plurality of data points to aprocessing unit over the WANET.

In yet another configuration, a method of generating a heat map of astructure is provided comprising the steps of receiving from a pluralityof personal tracking unit time-stamped data packets comprising ambienttemperature data and location data of a structure; combining the ambienttemperature and location data with a map of the structure to provide aheat map; transmitting the heat map to a command unit; and displayingthe heat map on a display of the portable computer.

The method may further comprise determining whether the temperature ofthe structure is above a structure heat tolerance; and sending an alertto at least one of a command unit and a personal tracking unit if thetemperature is above the structure heat tolerance.

In yet another configuration, a method of determining a location of anindividual in a building is provided. The method comprises coupling afirst personal tracking unit (PTU) having a unique identification numberto a first set of user identification data of a first individual storedon a separate device; transmitted the unique identification number ofthe first PTU and the first set of user identification data of a firstindividual to a processing unit; performing location measurements by atleast one of an IMU and a radio location sensor located in the firstPTU; transmitting the location measures to the processing unit;determining a location estimate of the first individual based on thelocation measurements received by the processing unit; accessing aEarth's Magnetic Field (EMF) map; selecting a portion of an Earth'sMagnetic Field (EMF) map based on the location estimate; performing EMFmeasurements by a positioning device located in the first PTU; comparingthe EMF measurements to the selected portion of the EMF map; anddetermining the location of the individual.

The method may further include the step of displaying the determinedlocation of the individual on at least one of a portable computer and adisplay on the first PTU.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING(S)

The foregoing features of this invention, as well as the inventionitself, may be more fully understood from the following description ofthe drawings in which:

FIG. 1 is a schematic representation of the present system.

FIG. 2 is a schematic representation of the Wi-Fi communication networkand the ad hoc communication network.

FIG. 3A is a schematic representation of the Command Unit, theProcessing Unit and the Personal Tracking Unit (PTU).

FIG. 3B is a schematic representation of an alternative configuration ofthe Command Unit, the Processing Unit and the Personal Tracking Unit(PTU).

FIG. 4 is a block diagram of the process for providing the estimatedacceleration, velocity and altitude based on data from the IMU and theadditional sensors.

FIG. 5 is a flow chart disclosing the method steps of a configuration ofthe heat map display and alert system.

FIG. 6 is a flow chart disclosing the method steps of a configuration ofthe heat map generation system.

FIG. 7 is a flow chart disclosing the method steps of a configuration ofzone identification areas.

FIG. 8 is a flow chart showing the method steps of a configuration ofthe coupling of the Personal ID user data with the PTU.

FIG. 9 is a flow chart disclosing the method steps of a configuration ofthe egress map system.

FIG. 10 is a schematic representation of the device for determining theenvironmental conditions in an enclosed space.

FIG. 11 is a flow chart disclosing the method steps of a configurationof the step detection and motion characteristics process.

FIG. 12 is a flow chart disclosing the method steps of a configurationof the hyperbolic navigation process.

FIG. 13 is a schematic representation of an alternative configuration ofthe present system.

FIG. 14 is a flow chart disclosing the method steps of a configurationof location determination of an individual.

DETAILED DESCRIPTION OF THE INVENTION

At the outset, it should be appreciated that like drawing numbers ondifferent drawing views identify identical structural elements of theinvention. While the present invention is described with respect to whatis presently considered to be the preferred embodiment, it is understoodthat the invention is not limited to the disclosed embodiment.

Furthermore, it is understood that the invention is not limited to theparticular methodology, materials, and modifications described and assuch may vary. It is also understood that the terminology used herein isfor the purpose of describing particular elements only, and is notintended to limit the scope of the present invention, which is limitedonly by the appended claims.

A tracking and accountability device and system are disclosed. Thedevice and system tracks the location of individuals in real-time,including, but not limited to, first responders at the scene of anemergency. The system also provides a multi-media situational data pass,including but not limited to a temperature visual overlay or heatmap,which may be displayed in three dimensions. In addition, the systemprovides an egress map for individuals attempting to exit a dangerousenvironment.

Referring to FIGS. 1-3 the present system 10 includes a command unit 50,a processing unit 100, personal tracking units (PTUs) 150, and personalidentification devices 300.

The command unit 50 includes a portable computer 52, for example atablet, laptop, or similar portable computing device, in communicationover wireless networks with the processing unit 100 and the PTUs 150. Itis contemplated that there are two wireless communication networks, suchas the standard Wi-Fi wireless communication network 58 between theprocessing unit 100 and the command unit 50 and an ad hoc network 140between the PTUs 150, the processing unit 100, and the command unit 50.In one configuration, the command unit 50 is arranged to communicatewith the processing unit 100 through two distinct methods ofcommunication. First, the command unit 50 may communicate with theprocessing unit 100 via a standard Wi-Fi wireless communication network58. Functional performance data may be transmitted between theprocessing unit 100 and the portable computer 52 over this Wi-Fiwireless communication network 58. The wireless communication network 58is preferably a secure network. Secondly, the command processing unit100 and 50 may each include a radio location sensor 56, 112,respectively, utilizing ultra-wideband wireless technologies that forman ad hoc network (WANET) as a wireless communication network 140 asdescribed in more detail below. Location data may be transmitted overthe wireless communication network 140 between the PTUs, processing unit100, and command unit 50.

The portable computer 52 includes a computer program configured toprovide the functional performance data and location data transmitted tothe processing unit 100 by the PTUs 150 and processed by the processingunit 100 to an individual using the portable computer 52 through agraphical user interface (GUI). The command unit 50 may also includeGlobal Positioning System (GPS) satellite receiver 60 to determine thelocation of the portable computer 52. In a configuration, the portablecomputer 52 includes the radio location sensor 56 and GPS satellitereceiver 60. In yet another configuration, the individual using theportable computer 52 wears a PTU having the radio location sensor 56 andGPS satellite receiver 60.

In select configurations, the command unit 50 includes a voice unit 54for communicating by voice, by any variety of commercially availablevoice enabling technologies that enable communication betweenindividuals located at a spaced distance from each other. A satisfactoryvoice enabling technology includes, but is not limited to, WirelessLocal Area Network (WLAN) and Voice over Internet Protocol (VOIP).Alternatively, or additionally, a radio can be used for communicatingbetween individuals. A satisfactory radio includes the Vertex StandardVX-450 Series Portable Radio sold by Vertex Standard LMR, Inc.

The processing unit 100 is a server having a mother board coupled to atleast some of the following standard components: memory, chipset,processor, standard hard drive controller, expansion slots, I/O ports,and network adaptor. The processing unit 100 further includes a powersupply, as described below. The processing unit 100 may store the datareceived from the PTUs 150 and portable computer 52 in memory 136. In aconfiguration, this data may also, or alternatively, be stored on thecloud via remote servers 400 and utilized for training 500. Typically,the processing unit 100 will connect with the remote servers 400 over aninternet connection made when the processing unit 100 returns to thestorage facility, for example, a fire engine vehicle returning to itsfire station. The processing unit 100 may connect to the servers 400through a wired connection, wireless connection, or hybridwired-wireless connection. The stored data may be converted into a formthat is acceptable for use by regulatory agencies, such as NFPA, OSHA,DHS, and/or FEMA. The processing unit 100 comprises a radio locationsensor 112, such as the DecaWave ScenSor DW1000 chip described in moredetail below for communication between the portable computer 52 and thePTUs 150 over the WANET 140.

The processing unit 100 further comprises a processor 104. The system 10can potentially utilize any number of commercially available processors,however, the onboard processor must be fast enough to calculate thealgorithms described herein in real-time. Preferably, a multi coreprocessor is used. One example of a multicore processor that may be usedis the Quad Core™ Intel® Atom™ Platform sold by Intel Corporation ofSanta Clara, Calif. In one configuration, the processor 104 is arrangedto communicate with as many PTU data streams that can pass through asingle point PTU between the processor 104 and the remaining PTUs.Current technology provides that the processor 104 communicates withapproximately seventy-five (75) PTUs 150. If additional connections arepresent between the processing unit 100 and the PTUs 150 then the limitwould be increased. For example, if three separate connections werepresent between the processing unit 100 and the PTUs 150, the limitunder current technology would be 225 PTUs. Persons skilled in therelevant art will be aware that the complexity of the SLAM algorithmwill increase exponentially with a system having a greater number ofPTUs. Therefore, using a more powerful processor will allow additionalPTUs to be used with the system 10. For example, an Intel® Xeon™processor may permit up to 500 PTUs to be added to the system 10.Additionally, if the algorithms of the Processing Unit 100 become moredemanding, a GPU can be added to the system to increase computationalabilities of the Processing Unit 100.

Notwithstanding the foregoing, the minimum number needed forthree-dimensional localization of the PTUs 150 is three (3) PTUs and one(1) processing unit 100, provided however, that any two (2) of the four(4) PTUs are not in a virtual plane. The position estimates may be moreaccurate with an increase in the number of PTUs 150. In the event thenumber of PTUs 150 required at the scene of an emergency exceeds theprocessor's limit of PTUs, the system 10 may require additionalprocessors. Additional processing units would communicate with thecommand unit 50 in the same manner as the first processing unit 100. Inone configuration, the processing unit 100 is mounted on the firstresponder vehicle 102, for example, a firetruck, and is associated witha set of PTUs. The processing unit 100 further includes a GPS satellitereceiver 106. In an alternative configuration, the GPS satellitereceiver is worn by an individual utilizing the portable computer 52. Insuch a configuration, the processing unit 100 mounted to an emergencyvehicle 102 obtains its power supply from such vehicle 102. Theprocessing unit 100 may alternatively, or in addition, include a battery108 coupled to an LED indicator light 110, the battery 108 is capable ofbeing charged by shore power when the first responder vehicle 102 isparked at a station. The processing unit 100 may also be charged via thefirst responder vehicle battery. As discussed below, an indicator 116,such as an LED indicator light indicates whether the processing unit 100is in communication with a PTU device 150 and/or the command unit 50over the wireless communication network 58 and/or the wirelesscommunication network 140.

Turning now to the Personal Tracking Unit (PTU) 150, each PTU 150includes a power management system 152 measuring the remaining charge ofa battery 154. An indicator 156, such as an LED indicator light, may becoupled to the battery 154 to indicate when power is available to thePTU 150, when power is low, and/or a particular level of the batterycharge. The LED indicator light 156 may be a first color, for example,green, when the battery is fully charged, and change to a second color,for example, orange, when the battery is low. The batteries 154 of thePTUs 150 can be charged simultaneously using a bank charger known in theart (not shown) on the first responder vehicle 102. In oneconfiguration, the bank charger is a 120V charger capable of charging atleast six (6) PTUs 150 located and wired directly into the cab of afirst responder vehicle 102 and supported by shore power. The PTUs 150can therefore, be charged in a temperature controlled environmentsimultaneously with other elements on the first responder vehicle 102.The bank charger may also comprise the first responder vehicleidentifying information 130 and the primary source of the wirelesscommunication network 58.

In one configuration, the wireless communication network 140 includes aradio location sensor 158 coupled to the PTUs, a radio location sensor112 coupled to the processing unit 100, and a radio location sensor 56coupled to portable computer 52. This wireless communication network140, in one configuration, is a wireless ad hoc network (WANET). Eachradio location sensor participates in routing by forwarding data fromthe other radio location sensors. Thus, there is a dynamic determinationof which radio location sensor will forward data to the next radiolocation sensor based on network connectivity. The wirelesscommunication network 140 may operate under separate frequencies forcommunicating with the PTUs 150 and for communicating with the portablecomputer 52. In one configuration, under normal operating conditions,the WANET 140 utilizes 5 Hz-10 GHz broadcasting on every frequency inthis range, simultaneously. Preferably, the WANET provides PTU mobilityand low overhead of both channel bandwidth and battery power of the PTUsfor communicating and processing. A well-known Ad Hoc On Demand multiplepath distance vector (AOMDV) may be used to provide reactive routing forthe WANET 140.

In one configuration, the radio location sensors 56, 112, 158 areScenSor DW1000 chips, which use an IEE802.15.4-2011 UWB compliantwireless transceiver module to communicate and are commerciallyavailable from decaWave located at Adelaide Chambers, Peter Street,Dublin 8, Ireland. The DW1000 chips utilize ultra-wideband wirelesstechniques which helps reduce the effect of multipath propagation. TheDW1000 chip can be used for radio communication as well. In oneconfiguration, this wireless communication network 140 using the DW1000chip can communicate at a range of up to 300 meters and transfer data atapproximately 6.8 Mbps data rate.

The network 140 uses an ultra-wideband wireless communication techniquebased in the IEEE802.15.4-2011 standard and gives the system 10 immunityagainst multipath fading. The DW1000 chip dimensions are small, 6 mm×6mm, and requires a very low amount of power: only 31 mA duringtransmission and 64 mA during reception. The DW1000 chips operate in anetwork and as a result, if communication between a PTU 150 and theprocessing unit 100 fails because the PTU 150 is out of range, then thecommunications are relayed to another PTU in the vicinity of the firstresponder vehicle 102 having a processing unit 100 and PTU 150, and thatPTU will communicate with the processing unit 100. It is contemplatedthat the portable computer 52 will display to the portable computeruser, such as the accountability officer, the distances between each PTU150, with an accuracy this is approximately within one (1) foot.Moreover, the portable computer 52 will display and identify theindividual closest to another individual wearing a PTU, considering thex, y, and z-axis, using appropriate entrances, exits, and stairs, andwithout permeating floors.

The PTU 150 further includes a GPS satellite receiver 160. The GPSsatellite receiver 160 can be used to receive position and velocity withthe GPS in most all weather conditions and in most all places on or nearEarth. A GPS satellite receiver that may be used with the processingunit 100 as GPS satellite receiver 106 and with the command unit as GPSsatellite receiver 60 is a commercially available GPS system from Telitlocated at 90 High Holborn, London WC1V 6XX, UK. When an individual isoutside of a structure, the position may be determined by the GPSsatellite receiver 60, 106, 160 including the initial position of theindividual. Global Navigation Satellite Systems (GNSS) may not always beavailable or reliable. In these situations, data from other sensors ofthe PTU 150 can be fused to provide positioning information that isrefined even when the GPS is unavailable, as described in more detailbelow.

In a configuration, the PTU 150 comprises a digital signal processor180. One example of a digital signal processor 180 that may be used isthe OMAP L-138 DSP processor commercially available from TexasInstruments, located at 12500 TI Boulevard, Dallas, Tex. 75243. Thedigital signal processor 180 of each PTU is responsible for processingthe data collected by such PTU. For example, the digital signalprocessor 180 may process the data collected by the PTU with thewell-known inertial navigation algorithm, posture detection algorithm,and step detection algorithm, among others, as discussed in more detailbelow.

The PTU 150 further comprises an inertial measurement unit (IMU) 162providing an inertial navigation system for determining the relativeposition, velocity and/or altitude of the individual wearing the PTU150. The IMU 162 may include an accelerometer (linear motion sensor)164, gyroscope (angular velocity sensor) 166, a pressure sensor (heightestimator) 168, and a magnetometer 169. In another configuration, theIMU 162 is a Microelectromechanical Systems (MEMS) sensor 170, which isan accelerometer, gyroscope, and pressure sensor. In one configuration,the PTU 150 includes an IMU 162 having three orthogonal rate gyroscopesand three orthogonal accelerometers. The accelerometer 164 or theaccelerometer of the MEMS sensor 170 measures the linear acceleration ofthe PTU 150 in the inertial reference frame (a fictitious or virtualframe of reference), but in directions that can only be measuredrelative to the moving PTU 150. The gyroscope 166 or gyroscope of theMEMS sensor 170 provides angular rates, which can be integrated todetermine the orientation of the PTU 150. The orientation of anindividual wearing the PTU 150 can be determined by a sudden change invelocity of the individual as detected by the gyroscope 166 or thegyroscope of the MEMS sensor 170, which could indicate the individualhas fallen or struck the ground very hard.

The measurements from the accelerometer 164 and gyroscope 166 or MEMSsensor 170 allow the system 10 to determine the position and orientationof the PTU 150 and therefore the position of the individual relative totheir initial position obtained from the GPS 160. The data from the IMU162 is processed by the digital signal processor 180 wherein certainalgorithms 182 are applied to the data collected by the IMU 162. Forexample, the data from the accelerometer 164 and gyroscope 166, or fromthe MEMS sensor 170, of the PTU 150 is applied to the inertialnavigation algorithm by the digital signal processor 180 to continuouslycalculate floor position of the individual via dead reckoning. Thus, therelative position, orientation, and velocity of the moving individualare determined without the need for external references. The positionestimate via the PTU 150 is relative to the initial position estimatefrom the GPS 160 of the PTU 150 or the GPS 106 of the processing unit106 or the GPS 60 of the command unit 50.

In one configuration, the gyroscope 166 has an accuracy of +/−1 degreeand an angle of less than 45 degrees is considered to be horizontal andabove 45 degrees is considered to be vertical. The default floor heightis typically 10 feet, however, this can be adjusted by the OIC using thecomputer program on the portable computer 52. The angular rates measuredby the gyroscope 166 or the gyroscope of the MEMS sensor 170 may alsoserve as the basis of the step detection algorithm, which may be used tocorrect the drift of the inertial navigation system. The pressuresensors 168 measure atmospheric pressure, which may be used to predictthe altitude of the firefighter from the ground level and may aid theinertial navigation system to correct the drift in the navigationalgorithm.

The accelerometer 164 and gyroscope 166 or MEMS sensor 170 data,however, do not allow accurate autonomous location without externalupdates, for example from GPS signals, since the sensor signals 164, 166or 170 are affected by various noises and drifts. Since the position andvelocity of the individual are updated based on calculations using theinitial position and orientation either initialized by another sensor,such as the GPS satellite receiver 160, or entered by a human operator,the starting position is extremely important since all future estimatesof position will be calculated relative to the initial position. Tocompensate for any errors that may result, external aid, via sensorfusion, is integrated into the inertial navigation system, as discussedbelow.

FIG. 4 is a block diagram showing that data from the IMU 162, forexample from the accelerometer 164, gyroscope 166, or alternatively,from the MEMS sensor 170, is processed by digital signal processor 180with numerical integrations 208, 210. The resulting position, velocityand altitude determinations may be fed to a statistical filter 204, suchas the Extended Kalman filter or the Particle filter. In someconfigurations, the well-known inertial navigation algorithm and otherwell-known algorithms, such as the magnetic heading estimation of thefirst responder are applied. As shown in FIG. 4, data from theadditional sensors 202 is processed by the processor 180 to provide atleast some of a relative position, velocity and heading, range betweenneighboring PTUs, altitude, and temperature, which is fed to thestatistical filter 204. The input from the IMU 162 and the additionalsensors 202 may also be processed by the processor 180 using thewell-known pedestrian navigational algorithms 216 to provide at leastthe extracted motion characteristics and the step detection, which arefed into statistical filters 204. The additional sensors 202 mayinclude, for example, any of the following: the radio location sensor(DW1000) 158, pressure sensor 168, magnetometer 169, and temperaturesensor 172. However, it should be appreciated that other sensors mayalso or alternatively be used. These complex navigational algorithmcalculations provide information that is useful and accurate, even ifone or more of the sensors are noisy, has a slow update rate, or evenwhen the data has stopped coming from the sensor altogether. In thismanner, a filtered position, velocity and altitude provide an estimate206 of the acceleration, angular velocity, and magnetic heading of theindividual wearing the PTU 150, which is generally drift free, withoutthe need for GPS when the individual (and PTU 150) is inside astructure.

The DW1000 chip provides relative positioning of the PTUs 150 byenabling calculations of the mutual range of four or more chips. Thus,to provide 3D localization, at least three (3) PTUs and one (1)processing unit 100 will need to be utilized at the scene. Each DW1000chip of a PTU within a network will know its own position relative toeach DW1000 chip of its related PTU. Where there are no obstructionsbetween DW1000 chips, the accuracy in an indoor environment isapproximately 10 cm. Accuracy may decrease for Non Line Of Sight (NLOS)cases, however, this will depend on the materials and thickness of thewall blocking the signal. The radio location sensors 112, 158 are an aidto the inertial navigation system. Thus, the digital signal processor180 will avoid using the DW1000 data if there is any sudden change inrange estimation from the DW1000 sensors indicating that there is asudden obstruction prohibiting correct range estimation. To localize afirst responder with range measurements from the radio location sensor112, hyperbolic navigation using the well-known hyperbolic navigationalgorithms may be used. Hyperbolic navigation is provided by measuringthe time difference of arrival (TDOA) of two signals from two PTUs. Asset forth in FIG. 12, each radiolocation sensor 158 embedded on the PTUswill determine the range from itself to the surrounding PTUs withinrange according to step 1002. Then, each pair of measurements will forma hyperbolic line according to step 1004. As set forth in step 1006, aposition fix will be calculated for the PTU using multiple measurementsforming hyperbolic lines. According to step 1008, the process is appliedto all the radiolocation sensors within a mesh network, in order tocalculate the relative position fix for each.

The data from the IMU 162 may also be used to detect the posture of theindividual. By posture, it is meant that it can be determined whetherthe individual is in a vertical or horizontal position, or falling.Posture detection can be determined by the digital signal processor 180of the PTU 150 receiving the data from the accelerometer 164 andgyroscope 166 or MEMS sensor 170 and applying the well-known stepdetection algorithm and/or the posture detection algorithm. Thesecomputations may also be used to correct the drift in the inertialnavigation system.

The posture of an individual wearing the PTU 150 may also be determinedusing motion detection. The processed data from the IMU 162 cannot allowaccurate autonomous location without external updates, for example fromGPS signals, since their signals are affected by various noises anddrifts. Thus, frequent GNSS updates can be used when available. WhenGNSS aiding is not available, other approaches may be used. Forinstance, the well-known Pedestrian Dead Reckoning (PDR) using embeddedinertial sensors may be used. The accelerometer 164 or MEMS sensor 170detects the number of steps, determines the step length, and transmitssuch data to the digital signal processor 180, wherein the PDR algorithmis applied and the travelled distance is computed. Given a known initialposition, the PDR algorithm determines the individual's position byestimating the heading and the individual's travelled distance or theindividual's speed. The digital signal processor 180 may also apply wellknown pattern recognition algorithms, such as neural network, to detectthe posture of an individual wearing a PTU 150 as well as theindividual's footsteps. As shown in FIG. 11, the pattern recognitionalgorithm may be applied. First, data is received from the accelerometer164 and gyroscope 166 or MEMS sensor 170 according to step 902. In aconfiguration, data from the magnetometer 169 and pressure sensor 168may also be used according to step 902. The pattern recognitionalgorithm is applied to such data according to step number 904. As setforth in step 906, pattern recognition algorithm output analysis iscompared to expected human motion data 910 according to step 908,resulting in step detection and motion characteristics results accordingto step 912.

In yet another configuration, the processing unit 100 may include aSimultaneous Localization And Mapping (SLAM) unit 118 for determiningthe position and orientation of the individual. SLAM is a well-knowncomputational process of constructing or updating a map of an unknownenvironment while simultaneously keeping track of an individual'slocation within it. As the individual proceeds into a structure, forexample, the PTU 150 will collect the data from the accelerometers andgyroscopes or MEMS sensor 170 as well as other available sensors andtransmit metadata to the SLAM unit 118 of the processing unit 100,including but not limited to any of the following: the position andorientation of the first responder, whether the first responder isstanding or falling straight, the ambient temperature, body temperature,carbon dioxide level, carbon monoxide level, humidity, pressure, andflashover detection. The SLAM unit 118 will build a map of thesurrounding environment. This map can be used in many cases, such asrescuing trapped firefighter, planning out a safe path through thedebris, among others. The map is communicated to the portable computer52 via the wireless communication network 58.

As shown in FIG. 3, the PTU 150 may further include additional sensors172 that measure biometric data from the individual as well as ambientdata. For example, the sensors may measure the blood pressure, pulse,heart rate, oxygen levels, carbon dioxide levels, and body temperatureof an individual. Additionally, sensors may measure ambient conditions,including but not limited to, ambient temperature, humidity,concentration of cases such as carbon dioxide levels, carbon monoxidelevels, hydrogen cyanide levels, phosgene levels, and oxygen levels, andambient pressure. This data collected by the sensors 172 will be sent tothe processing unit 100 (either directly if the PTU 150 is within apredetermined distance of the processing unit 100 or via another PTUwithin the predetermined distance of the processing unit 100) in theform of data packets. The data packets are time stamped and processed bythe processor 104 of the processing unit 100. In one configuration, theambient temperate data representing the temperature inside the structurein each area where a firefighter is present will be represented as aheat map overlay by the computer program available on the portablecomputer 52. The heat map illustrates the temperatures at various pointsthroughout the building based on temperature data received from each PTU150 in relation to the time. The heat map may be displayed as colorchanges and shading over a map display of the internal structure of thebuilding. The heat map may also indicate the stability of certain areasof a building. The colors may be displayed with the temperaturemeasurements in degrees Fahrenheit or Celsius pinned inside the image orwithin a legend. The heat map may also display other ambient informationincluding, but not limited to gas levels, pressure and humidity.

As shown in FIG. 5, the heat map 510 may be generated according to thefollowing steps. First, each PTU 150 sends data packets 502 that aretime-stamped 504 to the processing unit 100. As shown in FIG. 5, theprocessing unit 100 may provide the time-stamp 504 for the data packet502. However, it should be appreciated by those having ordinary skill inthe art that the time-stamp may be provided by the PTU 150 itself. Theprocessing unit 100 will couple the ambient temperature and locationdata from the PTUs with a map of the structure to provide the heat map.In a configuration of the invention, the heat map 510 is generated asthe output of the SLAM algorithm. The processing unit 100 will thentransmit the heat map 510 to the portable computer 52 over the wirelesscommunication network 58 wherein the map will be displayed on a GUI. Ina configuration, the processing unit 100 also transmits the heat map 510to the PTU 150. In a configuration, the heat map includes a preexistingmap 506 that is pre-loaded into the system 10. In another configuration,a pre-loaded map is not used and the heat map is generated based on thelocation data received from the PTUs 150.

The processing unit 100 will compare the ambient temperature data to aset of structure heat tolerance data 508. If the ambient temperature isabove the structure heat tolerance, the processing unit 100 will send analert 512 to the portable computer 52 and/or the PTUs. The processingunit 100 will time stamp 514 the alert 512 and in a configuration, sendthe alert to the PTU 150 and/or the portable computer 52. The processingunit 100 may also determine if rapid changes in temperature areoccurring. In the event of a fire, the processing unit will reportwhether the fires is at a growth stage, fully-developed stage, ordeclining state. The processing unit 100 may also indicate theoccurrence of a flashover or backdraft. In the event the processing unit100 determines a potential collapse of the structure based ontemperature and time data, the processing unit 100 will send a collapsealert to the portable computer and/or any PTU within a predeterminedrange of the structure at risk of collapsing. In the event the buildingmaterials are known, the stability may be calculated based on the heattolerances of such materials. For example, in 2014 there were 1.3million fires in the U.S. and 74% were in residential family homes. Themajority of these can be assumed to be wood truss construction, andthus, more than half of the fires in the US are in wood truss homes. Afire directly to the trusses (an attic fire) would collapse inapproximately ten (10) minutes. If the fire started on the first floorof a wood truss home, it would take approximately 1-2 hours for theentire house to burn. Other burn time examples based on buildingconstruction can be found on the world wide web athttps://dps.mn.gov/divisions/sfm/programs-services/Documents/Sprinkler%20Applications/ConstructionTypeDefinitions.pdf and athttp://www.fireengineering.com/articles/print/volume-161/issue-5/departments/training-notebook/structural-collapse-under-fire-conditions.html.

As shown in FIG. 6, the heat map 510 may be generated according to thefollowing steps. First, a plurality of PTUs 150 obtain ambienttemperature and location data 516. The PTUs 150 form data packetscontaining the ambient temperature and location data and provide atime-stamp 518. The data packets are transmitted to the processing unit100 according to step 520 and then the processing unit 100 combines theambient temperature data with the location data according to step 522.The processing unit 100 applies the SLAM algorithm according to step524. The processing unit 100 generates a heat map according to step 526which is then transmitted to portable computer 52 according to step 528.The heat map is displayed on the portable computer 52 according to step530.

It should be appreciated that the processing of the ambient temperatureand location data to generate a heat map may alternatively, oradditionally be handled by each PTU processor 180 and this modificationis intended to be included herein.

In one configuration, the ambient temperature sensor 172 of each PTU 150measures the ambient temperature every 1/20^(th) of a second andmeasures a range up to 1200 degrees Fahrenheit within an accuracy of+/−5 degrees. Rapid temperature changes are also identified and may bereported to the user of the portable computer 52 as an alert. The heatmap, or the temperature data used to build the heat map, may betransmitted from the processing unit 100 to the PTUs to communicate tothe individuals wearing the PTUs the temperature of the surrounding areaof the individual and/or the stability of the structure surrounding theindividual. Alternatively, or additionally, ambient temperature data maybe communicated between PTUs, thereby alerting a second individual ofhigh temperatures or potential structural collapse based on the PTU datafrom the first individual. In cases of fire, the firefighters aretypically in fire protective gear that is rated to a predeterminedtemperature. For example, in full gear, the fire protective gear mayprotect an individual at a maximum temperature of 500 degrees Fahrenheitfor 5 minutes. Thus, in one configuration the user of the portablecomputer 52 may be alerted if an individual is exposed to the maximumtemperature for longer periods and/or at hotter temperatures.

It should be appreciated by those having ordinary skill that the PTU 150may take many shapes and forms. For example, the PTU 150 may include awrist-mounted device that shows relevant information, such astemperature data, structural stability, the individual's biometricsand/or an egress map as discussed in more detail below. It iscontemplated that alerts that are sent by the processing unit 100 to theuser of the portable computer 52 are time stamped and recorded in memory136 along with the corrective action taken. This data can be analyzedlater for training 500.

The following steps may be followed when the system is in use forresponding to a fire. First, a first responder vehicle 102, for examplea fire truck, is unplugged from the shore power connection, whichactivates the locator device on processing unit 100 positioned on thefirst responder vehicle. The processing unit 100 is automaticallyrecognized by the wireless communication network 58. The drivers of thefirst responder vehicles will place the first responder vehicles aroundthe scene of the emergency based on the location of the incident and thefunction of the first responder vehicle. Each first responder vehiclemay have a processing unit 102 that reports the vehicle's position tothe command unit 50, which can be accessed by user of the portablecomputer 52, for example, the Officer in Charge (OIC) or otherpersonnel. In one configuration, the processing unit 100 is included inthe bank charger.

Once the first responder vehicle 102 is in position, the OIC or theAccountability Officer will activate the portable computer 52 and loginto the computer program coupled to the system 10 via the wirelesscommunication network 58. The first responders, for example,firefighters, will each acquire a PTU 150, and, if a voice system 54 isnot included with the PTU 150, a radio for communicating with theAccountability Officer and other firefighters by voice. The PTU 150 isin the neutral (initial) position when at the location of the firetruck102. The computer program will display the position of one or morefirefighters on the display screen of the portable computer 52 based onthe tracking information transmitted by each PTU 150 using the trackingand positioning methods described above.

In a configuration, the Accountability Officer or other user of theportable computer 52 may identify various work zones using geofencingand the GUI of the computer program. The user of the portable computer52, may, for example, select an area considered to be the danger zoneand/or a rehabilitation area. The danger zone, in one configuration, maybe a representation of a burning building and a forty (40) foot radiusaround the building displayed on the GUI and the rehabilitation area mayrepresent where the rehabilitation truck, for example, an ambulance ispositioned at the scene of an emergency. Thus, when an individual with aPTU 150 is outside of the danger zone, certain algorithms, including butnot limited to the posture and motion detection algorithms may not beprocessed by the processors 104, 180. An indicator may be provided onthe GUI to indicate the zone location of an individual wearing a PTU.For example, an icon representing a particular individual wearing a PTUmay change to different colors when in each of the different zones. Asshown in FIG. 7, the method steps may include, but are not limited to auser of the portable computer 52 first selecting an area on the displayrepresenting the danger zone and rehabilitation zone according to steps700 and 702. Next, the system 10 will determine if the PTU 150 user isin the danger zone 704. If the answer is yes, the processors 104, 180will continue to process the algorithms according to step 706. Further,the GUI may provide a location indicator for that particular PTU 150user indicating that individual is within the danger zone according tostep 708. For example, a representation of the user on the display ofthe portable computer 52 may be red. If the answer is no, certainalgorithms will not be processed by the processors 104, 180 according tostep 710. As set forth in step 712, the system 10 will determine if theindividual is within the rehabilitation zone according to step 712. Ifthe answer is yes, a location indicator may be provided on the displayof the GUI showing the PTU 150 user is in the rehabilitation zoneaccording to step 714. For example, a representation of the PTU 150 useron the display of the portable computer 52 of the PTU 150 user in therehabilitation zone may include the color yellow.

In one configuration, the PTU 150 slides into a holder that may be wornby the individual. For example, a firefighter may have a clip that ispre-pinned to the firefighter's jacket, wherein the OIC will receive anotification on the portable computer 52 if the PTU 150 is not properlyclipped into the activated position. Each clip includes a stored set ofpersonal identification (PID) user data 300 that is linked to the PTU150 obtained by the individual through radio frequency signals. Havingunique identification values embedded within the PTUs only may beproblematic in that the same individual must use the same PTU, or theOIC must track which individual is associated with each PTU. In order tosolve this problem, each individual is assigned a set of PID user data300 that is unique to that individual, which may be stored by a PTUholding device or other type of device that is separate from the PTU andcapable of retaining a PID user data 300. The PID user data 300 is thendetected by a PTU 150 only when the PTU is proximate to, coupled to, orconnected to, the PTU holding device. As shown in FIG. 8, the set of PIDuser data 300, which is unique to that particular individual, may bebundled in a data packet 308 having other values, and then transmittedto the processing unit 100 by the PTU 150. For example, each PTU 150includes a chipset 200 or similar component providing a uniqueidentification value 304 of the PTU 150, and this information may bebundled in the same data packet 308 having the PID user data 300. Thedata packet 308 may also include other data 306, which may include, butis not limited to, one or more of the following: biometric data from thesensors, voice, gas measurements at the location, and air supply valuesfrom the SCBA device. In one configuration, the data packet 308 is timestamped 310 by the PTU 150 and transmitted to the processing unit 100.The processing unit 100 unbundles the data packet 308, separating thedata and allocating the data into a database 312. Thus, the display ofthe portable computer 52 and/or the display of the PTU 150 may identifythe individual associated with the PTU.

The PTU 150 will send a signal to the server continuously until the PTU150 receives a confirmation signal confirming connectivity andsuccessful login. Once the PTU 150 is connected to the system 10, thePTU 150 will transmit the HD user data 300 to the command unit throughthe processing unit 100 permitting the OIC to identify the individual,and in some configurations, the linked PTU 150 on the display of theportable computer 52. In an alternative configuration, the PID user data300 is a component within the PTU 150, wherein the HD user data 300 is anear field RFID tag having the individual's identification embeddedwithin the PTU 150. The RFID tag sends the user data 300 to the RFIDtransceiver 132 of the processing unit 100.

As the firefighter moves around the scene of the emergency, the PTU 150will collect raw data from the various sensors 164, 166, 168, or 170 ofthe IMU 162 and from any additional sensors 172. The PTU 150 will trackmovement in all Cartesian directions (x, y, and z). Preferably, themovement of each firefighter is be tracked every 1/20^(th) of a second,however, it should be appreciated by those having ordinary skill in theart that a movement may be tracked at smaller or larger intervals. EachPTU 150 can communicate with each other if within a distance ofapproximately 300 meters and more preferably within a distance of 400meters. Any PTU 150 within the range of the processing unit 100 will beable to send and receive signals to and from the processing unit 100over the wireless communication network 140. Using this method, the PTU150 may transmit and receive signals to and from the other PTUs and toand from the processing unit 100 either directly or through another PTU,regardless of whether the individual and the PTU is in a structure madeof concrete, metal, wood, plastic, or other type of building material.If all PTUs are within range of one another, a plurality of connectivitylines can be created as shown in FIG. 2.

As with most electronic systems, it is necessary to control thetemperature, humidity, and other physical factors that may affect thereliability and accuracy of the processing unit 10 and PTUs 150. Theradio location sensors 56, 112, 158, for example, may be temperaturedependent as the radio wave based positioning depends of the Time DelayOf Arrival (TDOA) of the electromagnetic signal from the transmitter toreceiver. If the transceivers 105, 151 are subjected to hightemperature, the timing unit 120, 176 (the crystal) pulse count willvary resulting in an incorrect time estimation and incorrectpositioning. Also, the other sensors such as the IMU sensors 164, 166,168, 169, or MEMS sensor 170, and GPS satellite receiver 60, 106, 160are dependent on temperature. The desired operating temperature rangemay be approximately −40 to 158 degrees Fahrenheit, and more preferablybetween −20 to 125 degrees Fahrenheit. Their measurements will haveerror due to temperature, shock and humidity. To remove major noisesources and nonlinearities, and to prevent errors due to these physicalconditions, these sensors are calibrated at different physicalconditions.

Since temperature, humidity and other physical factors affect thereliability and accuracy of the system 10, one configuration includes atemperature control system 178 as part of the PTU 150 to keep thetemperature and humidity within the desired operating range and toprotect the electronics from extreme ambient temperatures. The commandunit 50 and the processing unit 100 may also include a temperaturecontrol system 62, 134, respectively. The ambient temperaturemeasurement determined by the temperature sensor 172 may be used tocreate the heat map and may also be used to determine the temperaturesurrounding the circuit board of PTUs 150.

In the event an individual requires help or is in danger, the individualcan so indicate by activating a distress call by activating a distresscall button within the system 10. In one configuration, the individualactivates a button 186 on the PTU 150 to activate the distress call. Theuser of the portable computer 52, upon receiving such call or anautomated alarm, will use the computer program on the portable computer52 to alert other individuals within the structure. The alert may beprovided to the user of the portable computer 52 through the computerprogram with a visual, audible and/or vibrational component. The system10 may also detect non-movement of an individual, or unusual movementsthat could indicate the individual has fallen down or subject to anexplosion and send an alert to the user of the portable computer 52. Todetect non-movement, data from the PTU 150 may be analyzed by the PTU150 via the well-known “No Movement Algorithm” and “Beyond HumanLimitation Algorithm.” The “No Movement Algorithm” quantifies the timethat a PTU 150 has not had any movement. In one configuration, thethreshold to define movement is one (1) foot and the rate of movement isless than one and one half (1.5) feet per second. For example, if theindividual does not move more than 2 feet in a predetermined amount oftime, the processing unit 100 will transmit an alert to the portablecomputer 52. In the event the PTU 150 is unable to transmit itsposition, the processing unit 100 will continuously record the lastknown position for such individual. Communication between a particularPTU 150 and the processing unit 100 may fail in the event such PTU isnot within the range of other PTUs or the processing unit 100, or noneof the PTUs are within the range of the processing unit 100. During aperiod of lost signal between a PTU and the processing unit 100, the PTU150 will continue to collect data and save it on an internal boardmemory 188. Upon re-establishment of communication with the processingunit 100, either directly or through other PTUs 150, the data saved onthe memory 188 will be transmitted to the processing unit 100. The datastored locally on memory 188 will be time stamped in the PTU 150. In aconfiguration, the time stamp is not universal time, but rathertimekeeping in an incremental manner relative to the time when signalwas lost. Moments of lost signal that are less than ten (10) secondswill not be indicated on the display of the portable computer 52.However, in the event signal is lost for ten (10) seconds or more, theportable computer 52 user will be alerted on the portable computer andthe last known location of the PTU 150/individual will be displayed as ared alert. Upon the PTU 150 reconnecting to the WANET 140, the PTU 150will transmit to the processing unit 100 the current data and anyadditional data generated during the signal loss. The display willpermit the user of the portable computer 52 to group the individualstogether and label the group by their job assignment.

The system 10 will also monitor whether an individual has exceeded thelimits of human movement and speed by applying the Beyond HumanLimitation Algorithm to tracking data transmitted by a PTU 150. In oneconfiguration, the threshold to define the limitation in the x and yaxis is 10 mph and the threshold to define the limitation in the z axisis 3.5 mph. The PTU 150 will measure these speeds and transmit the datato the processing unit 100. If these speeds are exceeded, the processingunit 100 will send an alert to the portable computer 52 to notify theportable computer 52.

The alert types may be assigned different colors indicating the severityand type of danger. For example, the indicator for non-movement of anindividual using a PTU 150 may be yellow in the event no movement isdetected for fifteen (15) seconds and proceed to red at twenty (20)seconds. The indicator values may be adjusted within the computerprogram.

The system 10 may provide an egress map to individuals wearing a PTU 150showing the individual's measured path in reverse. In one configuration,as shown in FIG. 9, the PTU 150 sends an IMU data packet 550 that istime stamped 552 to the processing unit 100. In another configuration,the processing unit 100 time stamps the data packet 550. The processingunit 100 stores the data in memory 136. Through a reverse data push 554,the processing unit 100 will send to the PTU 150 the reverse trackinginformation of the individual. It is contemplated that the reverse datapush may be automatic or at the request of an individual wearing the PTU150. Thus, an individual wearing a PTU 150 in a building or otheremergency environment will be guided to the exit based on previoussteps. In some configurations, the map of a building subject to theemergency is known prior to the event. Thus, the closest entrances,exits and/or windows can be identified and the individual wearing thePTU 150 can be guided by the PTU 150 to the closest escape via an egressmap communicated from the processing unit 100 to the PTU. In oneconfiguration, the egress data is provided to the PTU 150 upon a request556 by the user of the PTU 150. Such building maps may be created duringnew building walkthroughs, building inspections, by the SLAM unit 119,or otherwise. The egress map may be displayed on a wrist display, on thevisor of a first responder, or by other devices worn by the firstresponder. In a configuration of the invention, a large arrow isdisplayed providing directional guidance (N, S, E, W). The display maychange colors or include a secondary arrow to indicate a change ofelevation to the individual.

In yet another configuration, as shown in FIG. 10, the PTU is a device600 for determining the environmental conditions in an enclosed space.The device 600 includes a housing 602 having a sensor module 604 forcollecting a plurality of data points. In one configuration, the sensormodule 604 measures the concentration of gas of carbon dioxide levels,carbon monoxide levels, hydrogen cyanide levels, phosgene levels, oxygenlevels, and/or other chemicals. The sensor module 604 may also measureambient temperature, pressure, vibration, radiation, humidity, and/orother environmental elements. The device 600 further comprises atransceiver 606 coupled to a wireless communication network 140 forsending a plurality of data points to a processing unit 100. Theprocessing unit includes a processor for comparing the plurality of datapoints to a set of acceptable data points limits and determining if theplurality of data points is within the acceptable data point limits. Ifthe data points are determined to be outside the acceptable range, theprocessing unit 100 communicates an alert to one of a command unit 50and the device 600. For example, the alarm may sound if the carbondioxide levels are greater than 1,000 ppm, carbon monoxide levels aregreater than 70 ppm, hydrogen cyanide levels are greater than 8 ppm,and/or if the phosgene levels are greater than 2 ppm.

Referring now to FIG. 13, in an alternative configuration of the presentsystem 800, the system utilizes the Earth's magnetic field (EMF) toenable positioning of an individual. The EMF may be utilizedindependently or in combination with GPS 160, radio location sensor 158,and/or IMU 162. In one configuration, the PTU 150 is as described supra,and includes a positioning device 800. The positioning device 800 maycomprise a magnetometer or another sensor capable of measuring an EMFfield. The magnetometer may be, for example, a Hall sensor or a digitalcompass. In one configuration, the positioning device is a groupmagnetometer, or a magnetometer array. In another configuration, thepositioning device is magnetometer 169. The positioning device measuresan EMF vector. In one configuration, the magnetometer measures athree-dimensional magnetic field vector. The EMF vector measured by thepositioning device may be compared to an indoor Earth's magnetic fieldmap, which comprises existing information, such as EMF vector magnitudeand direction in several locations within a building or severalbuildings. The EMF map may be generated by taking a plurality of EMFmeasurements at a plurality of locations in one or more building. TheEMF measurements may be generated using a mapping device. The EMFmeasurements may include the magnitude and direction of the Earth'smagnetic field. In one configuration, the mapping device is a mobiledevice having a magnetometer and/or radio interference components. Thepositioning device 800 or 169 may have the EMF map stored within thepositioning device itself, within the memory 188 of the PTU 150, orstored elsewhere on a network accessible by the positioning device.Alternatively, the PTU 150 may forward the EMF vector data to theprocessing unit 100 having the EMF map stored in memory 136 or havingaccess to the EMF map stored in a database or server, for example, cloudstorage 400, accessible through a network. The EMF vector measured bythe positioning device is compared to the indoor Earth's magnetic fieldmap to determine the location of the user in the building. It should beappreciated by those having ordinary skill in the art that the EMF mapmay include extensive amounts of data. Thus, in one configuration, onlya portion of the EMF map is used based on a location estimate measuredby the PTU 150. That is, the IMU 162, Radio location sensor 158, and/orGPS 160 may measure the location of an individual and the PTU 150 and/orprocessing unit 100 may determine a location estimation of theindividual. A portion of the EMF map is selected based on this locationestimate. Then, the EMF vector measurements are compared to the EMF mapportion to determine a location of an individual.

As set forth in FIG. 14, in one configuration, a method of locationdetermination 802 is shown. In this method 802, using the PTU 150,measurements by the IMU 162, radio location sensor 158, and/or GPS 160are performed according to step 804. Then, a location estimate of theindividual having the PTU 150 is determined according to step 806. Inone configuration, the measurements performed by the IMU 162 includemeasurement data from the accelerometer 164, gyroscope 166, oralternatively, from the MEMS sensor 170, which is processed by digitalsignal processor 180 with numerical integrations 208, 210. The resultingposition, velocity and altitude determinations may be fed to astatistical filter 204, as described supra. In an alternativeconfiguration, the measurements performed by the IMU 162 are transmittedto the processing unit 100, where data is processed by processor 104 todetermine the location estimate of the individual having the PTU 150.Data from the additional sensors 202 may also be processed by theprocessor 180 and/or 104, and if available, GPS 160, may also be used todetermine the location estimate of the individual having the PTU 150.This location estimate provides a basis for selecting a portion of theEMF map according to step 808. The processor 180 of the PTU 150 or theprocessor 104 of the processing unit 100 selects the relevant portion ofthe EMF map based on the location estimate. The relevant portion of theEMF map includes the area surrounding the location of the PTU 150. Therelevant portion of the EMF map may include a floor of a building, aportion of a room, a multi-floor section of a building, or any otherpart of the EMF map relevant to the location of the individual havingthe PTU 150. The EMF map may be stored in the memory of the PTU 150and/or the memory of the processing unit 100. The EMF measurements mayalso be performed by the positioning device according to step 810. Asset forth in step 812, the EMF measurements are compared to the portionof the EMF map selected based on the location estimate. Finally,according to step 814, the location of the individual having the PTU 150is determined.

In one configuration, a location of an individual having a PTU 150 maybe determined, in part, by using Indooratlas® location technology, whichcan be found at http://www.indooratlas.com. Background informationregarding the Indooratlas® technology can be found in the white paperstitled “Ambient Magnetic Field-Based Indoor Location Technology”available at http://web.indooratlas.com/web/WhitePaper.pdf, and“Magnetic Positioning: The Arrival of ‘Indoor GPS’ available athttps://www.indooratlas.com/wp-content/uploads/2016/03/magneticpositioningopus_jun2014.pdf, the entirety of each article hereby incorporated byreference.

The location of the individual may be displayed on a GUI of a portablecomputer 52 and/or on a GUI of the PTU 150. The PTU 150 may include, forexample, a wrist-mounted device that shows relevant information, such aslocation information, temperature data, structural stability, theindividual's biometrics and/or an egress map.

The present invention contemplates that many changes and modificationsmay be made. Therefore, while the presently-preferred form of the systemhas been shown and described, and several modifications and alternativesdiscussed, persons skilled in the art will readily appreciate thatvarious additional changes and modifications may be made withoutdeparting form the scope of the invention, as defined and differentiatedby the following claims.

The invention claimed is:
 1. A first responder system comprising: (a) acommand unit coupled to a wireless communication network; (b) aprocessing unit operably coupled to the command unit; (c) a firstpersonal tracking unit (PTU) configured to be worn by and associatedwith a first individual, the first PTU having at least one datacollecting sensor for tracking location data of the first PTUcorresponding with a location of the first PTU within a structure, andan ambient temperature sensor for measuring ambient temperature data atthe location of the first PTU within the structure, wherein the firstPTU is in communication with the wireless communication network and isoperative to transmit signals of the location data from the at least onedata collecting sensor and the ambient temperature data from the ambienttemperature sensor of the first PTU; and (d) a second personal trackingunit (PTU) configured to be worn by and associated with a secondindividual, the second PTU having at least one data collecting sensorfor tracking location data of the second PTU corresponding with alocation of the second PTU within the structure, and an ambienttemperature sensor for measuring ambient temperature data at thelocation of the second PTU within the structure, wherein the second PTUis in communication with the wireless communication network and isoperative to transmit signals of the location data from the at least onedata collecting sensor and the ambient temperature data from the ambienttemperature sensor of the second PTU, and wherein each PTU, theprocessing unit or the command unit couples the location data receivedfrom each of the first PTU and the second PTU with the ambienttemperature data obtained from each of the first PTU and second PTU, togenerate a visual illustration of the ambient temperature data coupledto the location data obtained from each of the first PTU and second PTUin the form of a map.
 2. The first responder system of claim 1, whereinthe signals of the location data from the at least one data collectingsensor and the ambient temperature data from the ambient temperaturesensor of each of the first PTU and the second PTU include data packetstime-stamped by the first PTU and second PTU, respectively, and whereinthe map is generated by either the processing unit or the command unitbased on the time-stamped data packets comprising the ambienttemperature data and location data signals received from each PTU. 3.The first responder system of claim 1, wherein the processing unitcouples the location data received from the first PTU and the second PTUwith a preexisting structure map to generate a synthesized map havingthe location of at least the first PTU.
 4. The first responder system ofclaim 3, wherein the synthesized map is transmitted from the processingunit to at least the first PTU located within that portion of thestructure corresponding to the synthesized map.
 5. The first respondersystem of claim 1, wherein the location data of the first PTU forms anegress map of the first PTU, and wherein the egress map is transmittedto the first PTU as a reverse data push of the location data of thefirst PTU showing the first PTU's path in reverse.
 6. The firstresponder system of claim 1, wherein the temperature sensor measures aninternal temperature of the first PTU.
 7. The first responder system ofclaim 1 further comprising a second temperature sensor for measuring aninternal temperature of the first PTU.
 8. The first responder system ofclaim 1 further comprising a sensor for measuring biometric data of thefirst individual associated with the first PTU.
 9. A first respondersystem comprising a first personal tracking unit (PTU) configured to beworn by and associated with a first individual, the first PTU having atleast one data collecting sensor for tracking location data of the firstPTU corresponding with a location of the first PTU within a structure, aprocessor, a display, and an ambient temperature sensor for measuringtemperature data at the location of the first PTU within the structure,wherein the first PTU, the processor, or the command unit couples theambient temperature data with the location data and a time stamp togenerate a visual illustration of the ambient temperature data inrelation to time in the form of a heat map of the location of the firstPTU within the structure to be displayed on the display.
 10. The firstresponder system of claim 9, wherein the at least one data collectingsensor for tracking location data of the first PTU within the structurecomprises at least two of a GPS, an IMU, a magnetometer, and a radiolocation sensor, and wherein the location of the first PTU is determinedbased on the location data collected from the at least two of the GPS,IMU, magnetometer, and radio location sensor.
 11. The first respondersystem of claim 9, wherein the first PTU further comprises a mobiletransceiver in wireless communication with a processing unit remote fromthe first PTU over a wireless communication network, wherein the firstPTU is coupled to a first set of user identification data of the firstindividual and wherein the first PTU is operative to transmit signalsrepresenting the first individual's user identification data, and thelocation and temperature data at the location of the first individualover the wireless communication network to the processing unit.
 12. Thefirst responder system of claim 9, wherein the temperature sensormeasures an internal temperature of the first PTU.
 13. The firstresponder system of claim 9 further comprising a second temperaturesensor for measuring an internal temperature of the first PTU.
 14. Thefirst responder system of claim 9 further comprising a sensor formeasuring biometric data of the first individual associated with thefirst PTU.
 15. The first responder system of claim 11, furthercomprising a second PTU having at least one data collecting sensor fortracking location data of the second PTU corresponding with a locationof the second PTU within the structure, a mobile transceiver in wirelesscommunication with the processing unit remote from the first PTU and thesecond PTU over the wireless communication network, a display, and atemperature sensor for measuring temperature data of the second PTUwithin the structure, the second PTU coupled to a second set of useridentification data of a second individual and being operative totransmit signals representing the second individual's useridentification data, and the location temperature data at the locationof the second individual over the wireless communication network to theprocessing unit if the second PTU is within a first distance.
 16. Thefirst responder system of claim 15, wherein the wireless communicationnetwork is an ad hoc network utilizing an ultra-wideband network, andwherein the mobile transceiver of the first PTU is operative to receivesignals over the ultra-wideband network from the mobile transceiver ofthe second PTU if the second PTU is positioned within the first distancefrom the mobile transceiver and beyond the first distance from theprocessing unit, wherein the mobile transceiver of the first PTUtransmits the signals from the mobile transceiver of the second PTU tothe processing unit.
 17. The first responder system of claim 15, whereinthe processing unit generates a heat map of the locations of the firstPTU and the second PTU based on the temperature data and location datasignals received from the first PTU and the second PTU.
 18. The firstresponder system of claim 15, wherein the processing unit couples thelocation data received from the first PTU and the second PTU with apreexisting structure map to generate a synthesized map having thelocation of at least the first PTU.
 19. A first responder systemcomprising: (a) a first personal tracking unit (PTU) configured to beworn by an associated with a first individual; (b) a command unit inwireless communication with the first PTU; and (c) a processing unitremote from the first PTU in wireless communication with the first PTU,wherein the first PTU comprises at least one ambient data collectingsensor for tracking location data of the first PTU corresponding with alocation of the first PTU within a structure, a first mobile transceiverin wireless communication with the processing unit, an temperaturesensor for measuring temperature data within the location of the firstPTU, and a display, the first PTU coupled to a first set of useridentification data of a first individual and being operative totransmit signals representing the first individual's location data andthe ambient temperature data of the first individual's location to theprocessing unit, wherein the first PTU, the processing unit, or thecommand unit couples the location data received from the first PTU withthe ambient temperature data obtained from the first PTU and a timestamp to generate a visual illustration of the ambient temperature datain relation to time in the form of a heat map of the location of thefirst individual.
 20. The first responder system of claim 19, whereinthe first PTU further comprises a processor.
 21. The first respondersystem of claim 19, further comprising a second PTU configured to beworn by an associated with a second individual having at least one datacollecting sensor for tracking location data of the second PTUcorresponding with a location of the second PTU within the structure, amobile transceiver in wireless communication with the processing unit, adisplay, and an ambient temperature sensor for measuring temperaturedata of the second PTU within the structure, the second PTU coupled to asecond set of user identification data of a second individual and beingoperative to transmit signals representing the second individual's useridentification data, and the location data and the ambient temperaturedata of the second individual's location to the processing unit if thesecond personal tracking unit is within a first distance.
 22. The firstresponder system of claim 21, wherein the second PTU is operative totransmit signals representing the second individual's useridentification, location data, and ambient temperature data to the firstPTU if the second PTU is within the first distance to the first PTU. 23.The first responder system of claim 19, wherein the display of the firstPTU is mounted to the wrist of the first individual.
 24. The firstresponder system of claim 21, further comprising a voice system forvoice communication between the command unit, the first PTU and thesecond PTU.
 25. The first responder system of claim 19, wherein thetemperature sensor measures an internal temperature of the first PTU.26. The first responder system of claim 19 further comprising either (i)a temperature sensor for measuring an internal temperature of the firstPTU; or (ii) a sensor for measuring biometric data of an individualassociated with the first individual.
 27. The first responder system ofclaim 2, wherein the map is a heat map comprising color changesrepresenting changes in temperature based on the ambient temperaturedata received from one of the PTUs overlying a map display of theinternal structure of the building.
 28. The first responder system ofclaim 1, wherein the generated map is a map of a surroundingenvironment.